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PartIndexUtils: merge indices and ranges
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@stefanmaierhofer
stefanmaierhofer committed Oct 4, 2023
1 parent a6983b7 commit ce6e6db
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Showing 4 changed files with 173 additions and 44 deletions.
6 changes: 3 additions & 3 deletions src/Aardvark.Data.Points.Base/Chunk.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -161,7 +161,7 @@ public static Chunk ImmutableMerge(Chunk a, Chunk b)
}
}

return new Chunk(ps, cs, ns, js, ks, PartIndexUtils.Union(a.PartIndices, b.PartIndices), new Box3d(a.BoundingBox, b.BoundingBox));
return new Chunk(ps, cs, ns, js, ks, PartIndexUtils.MergeIndices(a.PartIndices, a.Count, b.PartIndices, b.Count), new Box3d(a.BoundingBox, b.BoundingBox));
}

public static Chunk ImmutableMerge(params Chunk[] chunks)
Expand Down Expand Up @@ -196,7 +196,7 @@ public static Chunk ImmutableMerge(params Chunk[] chunks)

if (ps == null) throw new Exception("Invariant 4cc7d585-9a46-4ba2-892a-95fce9ed06da.");
return new Chunk(ps, cs, ns, js, ks,
partIndices: PartIndexUtils.Union(chunks.Select(x => x.PartIndices)),
partIndices: PartIndexUtils.MergeIndices(chunks.Select(x => (indices: x.PartIndices, count: x.Count))),
bbox: new Box3d(chunks.Select(x => x.BoundingBox))
);
}
Expand Down Expand Up @@ -378,7 +378,7 @@ public Chunk Union(Chunk other)
Append(Normals, other.Normals),
Append(Intensities, other.Intensities),
Append(Classifications, other.Classifications),
partIndices: PartIndexUtils.Union(PartIndices, other.PartIndices),
partIndices: PartIndexUtils.MergeIndices(PartIndices, Count, other.PartIndices, other.Count),
Box.Union(BoundingBox, other.BoundingBox)
);
}
Expand Down
192 changes: 160 additions & 32 deletions src/Aardvark.Data.Points.Base/PartIndexUtils.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -30,80 +30,208 @@ namespace Aardvark.Data.Points;
public static class PartIndexUtils
{
/// <summary>
/// Returns union of two part indices (uint, IList of [byte|short|int]).
/// Merges part indices (null, uint, [byte|short|int] array).
/// </summary>
public static object? Union(object? first, object? second)
public static object? MergeIndices(object? first, int firstCount, object? second, int secondCount)
{
// expect: both ranges are defined, or both ranges are null
if ((first == null && second != null) || (first != null && second == null)) throw new Exception(
"Invariant 874c2220-4779-41f0-9f3e-1c0ef4988da9."
);

checked
{
return (first, second) switch
{
(null , null ) => null,

(uint x, uint y) => (x == y) ? x : createArray1(x, firstCount, y, secondCount),

(uint x, _ ) => second switch
{
IReadOnlyList<byte > ys when x <= byte .MaxValue => createArray2((byte )x, firstCount, ys),
IReadOnlyList<short> ys when x <= short.MaxValue => createArray2((short)x, firstCount, ys),
IReadOnlyList<int > ys when x <= int .MaxValue => createArray2((int )x, firstCount, ys),
_ => throw new Exception("Invariant 588fea29-4daa-4356-92a4-369f64ac5778.")
},

(_ , uint y) => second switch
{
IReadOnlyList<byte > xs when y <= byte .MaxValue => createArray3(xs, (byte )y, secondCount),
IReadOnlyList<short> xs when y <= short.MaxValue => createArray3(xs, (short)y, secondCount),
IReadOnlyList<int > xs when y <= int .MaxValue => createArray3(xs, (int )y, secondCount),
_ => throw new Exception("Invariant 7ddfc8c0-2e66-45ef-94a9-31d21f6009f9.")
},

(IReadOnlyList<byte > xs, IReadOnlyList<byte > ys) => createArray4( xs , ys ),
(IReadOnlyList<byte > xs, IReadOnlyList<short> ys) => createArray4(b2s(xs), ys ),
(IReadOnlyList<byte > xs, IReadOnlyList<int > ys) => createArray4(b2i(xs), ys ),
(IReadOnlyList<short> xs, IReadOnlyList<byte > ys) => createArray4( xs , b2s(ys)),
(IReadOnlyList<short> xs, IReadOnlyList<short> ys) => createArray4( xs , ys ),
(IReadOnlyList<short> xs, IReadOnlyList<int > ys) => createArray4(s2i(xs), ys ),
(IReadOnlyList<int > xs, IReadOnlyList<byte > ys) => createArray4( xs , b2i(ys)),
(IReadOnlyList<int > xs, IReadOnlyList<short> ys) => createArray4( xs , s2i(ys)),
(IReadOnlyList<int > xs, IReadOnlyList<int > ys) => createArray4( xs , ys ),

_ => throw new Exception(
$"Unexpected part indices types {first?.GetType().FullName ?? "null"} and {second?.GetType().FullName ?? "null"}. " +
$"Error 2f0672f5-8c6b-400b-8172-e83a30d70c28"
)
};

object createArray1(uint first, int firstCount, uint second, int secondCount)
{
var count = firstCount + secondCount;
return Math.Max(first, second) switch
{
uint max when max <= byte .MaxValue => create((byte )first, (byte )second),
uint max when max <= short.MaxValue => create((short)first, (short)second),
uint max when max <= int .MaxValue => create((int )first, (int )second),
_ => throw new Exception("Invariant 129edb1c-066d-4ff2-8edf-8c5a67191dea.")
};

object create<T>(T x0, T x1) where T : unmanaged
{
var xs = new T[count];
for (var i = 0; i < firstCount; i++) xs[i] = x0;
for (var i = firstCount; i < count; i++) xs[i] = x1;
return xs;
}
}

object createArray2<T>(T first, int firstCount, IReadOnlyList<T> second) where T : unmanaged
{
var count = firstCount + second.Count;
var xs = new T[count];
int j = 0;
for (var i = 0; i < firstCount ; i++) xs[j++] = first;
for (var i = 0; i < second.Count; i++) xs[j++] = second[i];
return xs;
}

object createArray3<T>(IReadOnlyList<T> first, T second, int secondCount) where T : unmanaged
{
var count = first.Count + secondCount;
var xs = new T[count];
int j = 0;
for (var i = 0; i < first.Count; i++) xs[j++] = first[i];
for (var i = 0; i < secondCount; i++) xs[j++] = second;
return xs;
}

object createArray4<T>(IReadOnlyList<T> first, IReadOnlyList<T> second) where T : unmanaged
{
var count = first.Count + second.Count;
var xs = new T[count];
int j = 0;
for (var i = 0; i < first .Count; i++) xs[j++] = first[i];
for (var i = 0; i < second.Count; i++) xs[j++] = second[i];
return xs;
}

short[] b2s(IReadOnlyList<byte > xs) { var ys = new short[xs.Count]; for (var i = 0; i < xs.Count; i++) ys[i] = xs[i]; return ys; }
int [] b2i(IReadOnlyList<byte > xs) { var ys = new int [xs.Count]; for (var i = 0; i < xs.Count; i++) ys[i] = xs[i]; return ys; }
int [] s2i(IReadOnlyList<short> xs) { var ys = new int [xs.Count]; for (var i = 0; i < xs.Count; i++) ys[i] = xs[i]; return ys; }
}
}

/// <summary>
/// Merges part indices (null, uint, [byte|short|int] array).
/// </summary>
public static object? MergeIndices(IEnumerable<(object? indices, int count)> xs)
{
var (resultIndices, resultCount) = xs.FirstOrDefault();
foreach (var (xIndices, xCount) in xs.Skip(1))
{
MergeIndices(resultIndices, resultCount, xIndices, xCount);
resultCount += xCount;
}
return resultIndices;
}

/// <summary>
/// Merges part index ranges (null, (u)int, Range1[bsi]).
/// </summary>
public static object? MergeRanges(object? first, object? second)
{
checked
{
return (first, second) switch
{
(null, null) => null,
(object x, null) => x,
(null, object y) => y,
(uint x, null) => x,
(int x, null) => x,
(Range1b x, null) => x,
(Range1s x, null) => x,
(Range1i x, null) => x,
(null, uint y) => y,
(null, int y) => y,
(null, Range1b y) => y,
(null, Range1s y) => y,
(null, Range1i y) => y,
(uint x, uint y) => (x == y) ? x : new Range1i(new[] { (int)x, (int)y }),

(uint x, IList<byte> ys) => ((Range1i)new Range1b(ys)).ExtendedBy((int)x),
(uint x, IList<short> ys) => ((Range1i)new Range1s(ys)).ExtendedBy((int)x),
(uint x, IList<int> ys) => new Range1i(ys).ExtendedBy((int)x),

(IList<byte> xs, uint y) => ((Range1i)new Range1b(xs)).ExtendedBy((int)y),
(IList<short> xs, uint y) => ((Range1i)new Range1s(xs)).ExtendedBy((int)y),
(IList<int> xs, uint y) => new Range1i(xs).ExtendedBy((int)y),
//(IList<byte> xs, uint y) => ((Range1i)new Range1b(xs)).ExtendedBy((int)y),
//(IList<short> xs, uint y) => ((Range1i)new Range1s(xs)).ExtendedBy((int)y),
//(IList<int> xs, uint y) => new Range1i(xs).ExtendedBy((int)y),

(IList<byte> xs, IList<byte> ys) => (Range1i)new Range1b(xs.Concat(ys)),
(IList<byte> xs, IList<short> ys) => (Range1i)new Range1s(xs.Select(x => (short)x).Concat(ys)),
(IList<byte> xs, IList<int> ys) => new Range1i(xs.Select(x => (int)x).Concat(ys)),
//(IList<byte> xs, IList<byte> ys) => (Range1i)new Range1b(xs.Concat(ys)),
//(IList<byte> xs, IList<short> ys) => (Range1i)new Range1s(xs.Select(x => (short)x).Concat(ys)),
//(IList<byte> xs, IList<int> ys) => new Range1i(xs.Select(x => (int)x).Concat(ys)),

(IList<short> xs, IList<byte> ys) => (Range1i)new Range1s(xs.Concat(ys.Select(x => (short)x))),
(IList<short> xs, IList<short> ys) => (Range1i)new Range1s(xs.Concat(ys)),
(IList<short> xs, IList<int> ys) => new Range1i(xs.Select(x => (int)x).Concat(ys)),
//(IList<short> xs, IList<byte> ys) => (Range1i)new Range1s(xs.Concat(ys.Select(x => (short)x))),
//(IList<short> xs, IList<short> ys) => (Range1i)new Range1s(xs.Concat(ys)),
//(IList<short> xs, IList<int> ys) => new Range1i(xs.Select(x => (int)x).Concat(ys)),

(IList<int> xs, IList<byte> ys) => new Range1i(xs.Concat(ys.Select(x => (int)x))),
(IList<int> xs, IList<short> ys) => new Range1i(xs.Concat(ys.Select(x => (int)x))),
(IList<int> xs, IList<int> ys) => new Range1i(xs.Concat(ys)),
//(IList<int> xs, IList<byte> ys) => new Range1i(xs.Concat(ys.Select(x => (int)x))),
//(IList<int> xs, IList<short> ys) => new Range1i(xs.Concat(ys.Select(x => (int)x))),
//(IList<int> xs, IList<int> ys) => new Range1i(xs.Concat(ys)),

_ => throw new Exception(
$"Unexpected part indices types {first.GetType().FullName} and {second.GetType().FullName}. " +
$"Unexpected part indices types {first?.GetType().FullName ?? "null"} and {second?.GetType().FullName ?? "null"}. " +
$"Error 2f0672f5-8c6b-400b-8172-e83a30d70c28"
)
};
}
}

/// <summary>
/// Returns union of part indices (uint, IList of [byte|short|int]).
/// Merges multiple part index ranges (uint, IList of [byte|short|int]).
/// </summary>
public static object? Union(params object?[] xs)
public static object? MergeRanges(params object?[] xs)
{
if (xs.Length == 0) return null;

var result = xs[0];
for (var i = 1; i < xs.Length; i++) result = Union(result, xs[i]);
for (var i = 1; i < xs.Length; i++) result = MergeRanges(result, xs[i]);
return result;
}

/// <summary>
/// Returns union of part indices (uint, IList of [byte|short|int]).
/// Merges multiple part index ranges (uint, IList of [byte|short|int]).
/// </summary>
public static object? Union(IEnumerable<object?> xs)
public static object? MergeRanges(IEnumerable<object?> xs)
{
var result = xs.FirstOrDefault();
foreach (var x in xs.Skip(1)) result = Union(result, x);
foreach (var x in xs.Skip(1)) result = MergeRanges(result, x);
return result;
}

public static Range1i ExtendedBy(in Range1i range, object? partIndices)
public static Range1i ExtendRangeBy(in Range1i range, object? partIndices)
{
checked
{
return partIndices switch
{
null => range,
uint x => range.ExtendedBy((int)x),
IList<byte> xs => range.ExtendedBy((Range1i)new Range1b(xs)),
null => range,
uint x => range.ExtendedBy((int)x),
IList<byte> xs => range.ExtendedBy((Range1i)new Range1b(xs)),
IList<short> xs => range.ExtendedBy((Range1i)new Range1s(xs)),
IList<int> xs => range.ExtendedBy(new Range1i(xs)),
IList<int> xs => range.ExtendedBy(new Range1i(xs)),

_ => throw new Exception(
$"Unexpected part indices type {partIndices.GetType().FullName}. " +
Expand Down Expand Up @@ -149,11 +277,11 @@ public static Range1i ExtendedBy(in Range1i range, object? partIndices)

internal static object? Subset(object? partIndices, IReadOnlyList<int> subsetIndices) => partIndices switch
{
null => null,
uint x => x,
IList<byte> xs => subsetIndices.MapToArray(i => xs[i]),
null => null,
uint x => x,
IList<byte> xs => subsetIndices.MapToArray(i => xs[i]),
IList<short> xs => subsetIndices.MapToArray(i => xs[i]),
IList<int> xs => subsetIndices.MapToArray(i => xs[i]),
IList<int> xs => subsetIndices.MapToArray(i => xs[i]),

_ => throw new Exception(
$"Unexpected part indices type {partIndices.GetType().FullName}. " +
Expand Down
2 changes: 1 addition & 1 deletion src/Aardvark.Geometry.PointSet/Import/ImportChunks.cs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ public static PointSet Chunks(IEnumerable<Chunk> chunks, ImportConfig config)
{
if (chunk.HasPartIndices)
{
partIndicesRange = PartIndexUtils.ExtendedBy(partIndicesRange, chunk.PartIndices);
partIndicesRange = PartIndexUtils.ExtendRangeBy(partIndicesRange, chunk.PartIndices);
}
if (config.Verbose)
Expand Down
17 changes: 9 additions & 8 deletions src/Aardvark.Geometry.PointSet/Octrees/Merge.cs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -549,7 +549,7 @@ static int octant(Cell x)
{
result2 = a.WithSubNodes(subcells!);
result2 = InjectPointsIntoTree(
a.PositionsAbsolute, a.Colors?.Value, a.Normals?.Value, a.Intensities?.Value, a.Classifications?.Value,
a.PositionsAbsolute, a.Colors?.Value, a.Normals?.Value, a.Intensities?.Value, a.Classifications?.Value, a.PartIndices,
result2, result2.Cell, config);
}
else
Expand Down Expand Up @@ -802,9 +802,9 @@ private static IPointCloudNode MergeLeafAndLeafWithIdenticalRootCell(IPointCloud
var ns = Concat(a.Normals?.Value, b.Normals?.Value);
var js = Concat(a.Intensities?.Value, b.Intensities?.Value);
var ks = Concat(a.Classifications?.Value, b.Classifications?.Value);
var qs = PartIndexUtils.MergeIndices(a.PartIndices, a.PointCountCell, b.PartIndices, b.PointCountCell);

var chunk = new Chunk(ps, cs, ns, js, ks, partIndices: null /* TODO */, cell.BoundingBox);
throw new NotImplementedException("PARTINDICES");
var chunk = new Chunk(ps, cs, ns, js, ks, partIndices: qs, cell.BoundingBox);
if (config.NormalizePointDensityGlobal)
{
chunk = chunk.ImmutableFilterMinDistByCell(cell, config.ParseConfig);
Expand All @@ -822,7 +822,7 @@ private static IPointCloudNode MergeLeafAndTreeWithIdenticalRootCell(IPointCloud
if (a.IsLeaf == false || b.IsLeaf == true) throw new InvalidOperationException();
if (a.Cell != b.Cell) throw new InvalidOperationException();

var result = InjectPointsIntoTree(a.PositionsAbsolute, a.Colors?.Value, a.Normals?.Value, a.Intensities?.Value, a.Classifications?.Value, b, a.Cell, config);
var result = InjectPointsIntoTree(a.PositionsAbsolute, a.Colors?.Value, a.Normals?.Value, a.Intensities?.Value, a.Classifications?.Value, a.PartIndices, b, a.Cell, config);
//if (a.PointCountTree + b.PointCountTree != result.PointCountTree) throw new InvalidOperationException("Invariant db336387-4d1a-42fd-a582-48e8cac50fba.");
if (a.Cell != result.Cell) throw new InvalidOperationException("Invariant 55551919-1a11-4ea9-bb4e-6f1a6b15e3d5.");
return result;
Expand Down Expand Up @@ -899,7 +899,7 @@ ImportConfig config
}

private static IPointCloudNode InjectPointsIntoTree(
IList<V3d> psAbsolute, IList<C4b>? cs, IList<V3f>? ns, IList<int>? js, IList<byte>? ks,
IList<V3d> psAbsolute, IList<C4b>? cs, IList<V3f>? ns, IList<int>? js, IList<byte>? ks, object? qs,
IPointCloudNode a, Cell cell, ImportConfig config
)
{
Expand All @@ -909,8 +909,7 @@ private static IPointCloudNode InjectPointsIntoTree(

if (a == null)
{
var chunk = new Chunk(psAbsolute, cs, ns, js, ks, partIndices: null /* TODO */, cell.BoundingBox);
throw new NotImplementedException("PARTINDICES");
var chunk = new Chunk(psAbsolute, cs, ns, js, ks, qs, cell.BoundingBox);
if (config.NormalizePointDensityGlobal)
{
chunk = chunk.ImmutableFilterMinDistByCell(cell, config.ParseConfig);
Expand Down Expand Up @@ -955,6 +954,7 @@ private static IPointCloudNode InjectPointsIntoTree(
var nss = ns != null ? new List<V3f>[8] : null;
var iss = js != null ? new List<int>[8] : null;
var kss = ks != null ? new List<byte>[8] : null;
var qss = qs != null ? new object?[8] : null;

#if DEBUG
var bb = cell.BoundingBox;
Expand Down Expand Up @@ -988,7 +988,8 @@ private static IPointCloudNode InjectPointsIntoTree(
if (pss[j] != null)
{
if (x == null) throw new InvalidOperationException("Invariant 6afc7ca3-30da-4cb5-9a02-7572085e89bb.");
subcells[j] = InjectPointsIntoTree(pss[j], css?[j], nss?[j], iss?[j], kss?[j], x, cell.GetOctant(j), config);
throw new NotImplementedException("PARTINDICES");
subcells[j] = InjectPointsIntoTree(pss[j], css?[j], nss?[j], iss?[j], kss?[j], qs: null /* TODO */, x, cell.GetOctant(j), config);
}
else
{
Expand Down

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